2 losse EMG signalen van de biceps en deltoid
Dependencies: HIDScope MODSERIAL mbed-dsp mbed Encoder
Fork of Lampje_EMG_Gr6 by
main.cpp@0:db396b9f4b4c, 2014-10-15 (annotated)
- Committer:
- jessekaiser
- Date:
- Wed Oct 15 14:07:03 2014 +0000
- Revision:
- 0:db396b9f4b4c
- Child:
- 1:099b19376f16
Begin met EMG implementeren;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jessekaiser | 0:db396b9f4b4c | 1 | #include "mbed.h" |
jessekaiser | 0:db396b9f4b4c | 2 | #include "HIDScope.h" |
jessekaiser | 0:db396b9f4b4c | 3 | #include "arm_math.h" |
jessekaiser | 0:db396b9f4b4c | 4 | #include "MODSERIAL.h" |
jessekaiser | 0:db396b9f4b4c | 5 | |
jessekaiser | 0:db396b9f4b4c | 6 | Serial pc(USBTX, USBRX); // tx, rx |
jessekaiser | 0:db396b9f4b4c | 7 | DigitalOut myled1(LED_RED); |
jessekaiser | 0:db396b9f4b4c | 8 | DigitalOut myled2(LED_GREEN); |
jessekaiser | 0:db396b9f4b4c | 9 | DigitalOut myled3(LED_BLUE); |
jessekaiser | 0:db396b9f4b4c | 10 | PwmOut filtered_emg(PTD4); |
jessekaiser | 0:db396b9f4b4c | 11 | |
jessekaiser | 0:db396b9f4b4c | 12 | //Define objects |
jessekaiser | 0:db396b9f4b4c | 13 | AnalogIn emg0(PTB1); //Analog input |
jessekaiser | 0:db396b9f4b4c | 14 | HIDScope scope(2); |
jessekaiser | 0:db396b9f4b4c | 15 | |
jessekaiser | 0:db396b9f4b4c | 16 | arm_biquad_casd_df1_inst_f32 lowpass; |
jessekaiser | 0:db396b9f4b4c | 17 | //constants for 5Hz lowpass |
jessekaiser | 0:db396b9f4b4c | 18 | float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715}; |
jessekaiser | 0:db396b9f4b4c | 19 | //state values |
jessekaiser | 0:db396b9f4b4c | 20 | float lowpass_states[4]; |
jessekaiser | 0:db396b9f4b4c | 21 | arm_biquad_casd_df1_inst_f32 highpass; |
jessekaiser | 0:db396b9f4b4c | 22 | //constants for 0.5Hz highpass |
jessekaiser | 0:db396b9f4b4c | 23 | float highpass_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353}; |
jessekaiser | 0:db396b9f4b4c | 24 | //state values |
jessekaiser | 0:db396b9f4b4c | 25 | float highpass_states[4]; |
jessekaiser | 0:db396b9f4b4c | 26 | |
jessekaiser | 0:db396b9f4b4c | 27 | |
jessekaiser | 0:db396b9f4b4c | 28 | /** Looper function |
jessekaiser | 0:db396b9f4b4c | 29 | * functions used for Ticker and Timeout should be of type void <name>(void) |
jessekaiser | 0:db396b9f4b4c | 30 | * i.e. no input arguments, no output arguments. |
jessekaiser | 0:db396b9f4b4c | 31 | * if you want to change a variable that you use in other places (for example in main) |
jessekaiser | 0:db396b9f4b4c | 32 | * you will have to make that variable global in order to be able to reach it both from |
jessekaiser | 0:db396b9f4b4c | 33 | * the function called at interrupt time, and in the main function. |
jessekaiser | 0:db396b9f4b4c | 34 | * To make a variable global, define it under the includes. |
jessekaiser | 0:db396b9f4b4c | 35 | * variables that are changed in the interrupt routine (written to) should be made |
jessekaiser | 0:db396b9f4b4c | 36 | * 'volatile' to let the compiler know that those values may change outside the current context. |
jessekaiser | 0:db396b9f4b4c | 37 | * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" |
jessekaiser | 0:db396b9f4b4c | 38 | * in the example below, the variable is not re-used in the main function, and is thus declared |
jessekaiser | 0:db396b9f4b4c | 39 | * local in the looper function only. |
jessekaiser | 0:db396b9f4b4c | 40 | **/ |
jessekaiser | 0:db396b9f4b4c | 41 | void looper() |
jessekaiser | 0:db396b9f4b4c | 42 | { |
jessekaiser | 0:db396b9f4b4c | 43 | /*variable to store value in*/ |
jessekaiser | 0:db396b9f4b4c | 44 | uint16_t emg_value; |
jessekaiser | 0:db396b9f4b4c | 45 | float filtered_emg; |
jessekaiser | 0:db396b9f4b4c | 46 | float emg_value_f32; |
jessekaiser | 0:db396b9f4b4c | 47 | /*put raw emg value both in red and in emg_value*/ |
jessekaiser | 0:db396b9f4b4c | 48 | emg_value = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
jessekaiser | 0:db396b9f4b4c | 49 | emg_value_f32 = emg0.read(); |
jessekaiser | 0:db396b9f4b4c | 50 | |
jessekaiser | 0:db396b9f4b4c | 51 | //process emg |
jessekaiser | 0:db396b9f4b4c | 52 | arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32, &filtered_emg, 1 ); |
jessekaiser | 0:db396b9f4b4c | 53 | filtered_emg = fabs(filtered_emg); |
jessekaiser | 0:db396b9f4b4c | 54 | arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg, &filtered_emg, 1 ); |
jessekaiser | 0:db396b9f4b4c | 55 | |
jessekaiser | 0:db396b9f4b4c | 56 | /*send value to PC. */ |
jessekaiser | 0:db396b9f4b4c | 57 | scope.set(0,emg_value); //uint value |
jessekaiser | 0:db396b9f4b4c | 58 | scope.set(1,filtered_emg); //processed float |
jessekaiser | 0:db396b9f4b4c | 59 | scope.send(); |
jessekaiser | 0:db396b9f4b4c | 60 | |
jessekaiser | 0:db396b9f4b4c | 61 | } |
jessekaiser | 0:db396b9f4b4c | 62 | |
jessekaiser | 0:db396b9f4b4c | 63 | void BlinkRed(int n) |
jessekaiser | 0:db396b9f4b4c | 64 | { |
jessekaiser | 0:db396b9f4b4c | 65 | for (int i=0; i<n; i++) { |
jessekaiser | 0:db396b9f4b4c | 66 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 67 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 68 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 69 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 70 | myled1 = 0; |
jessekaiser | 0:db396b9f4b4c | 71 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 72 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 73 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 74 | } |
jessekaiser | 0:db396b9f4b4c | 75 | } |
jessekaiser | 0:db396b9f4b4c | 76 | |
jessekaiser | 0:db396b9f4b4c | 77 | int main() |
jessekaiser | 0:db396b9f4b4c | 78 | { |
jessekaiser | 0:db396b9f4b4c | 79 | pc.baud(115200); |
jessekaiser | 0:db396b9f4b4c | 80 | |
jessekaiser | 0:db396b9f4b4c | 81 | Ticker log_timer; |
jessekaiser | 0:db396b9f4b4c | 82 | //set up filters. Use external array for constants |
jessekaiser | 0:db396b9f4b4c | 83 | arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states); |
jessekaiser | 0:db396b9f4b4c | 84 | arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states); |
jessekaiser | 0:db396b9f4b4c | 85 | |
jessekaiser | 0:db396b9f4b4c | 86 | /**Here you attach the 'void looper(void)' function to the Ticker object |
jessekaiser | 0:db396b9f4b4c | 87 | * The looper() function will be called every 0.01 seconds. |
jessekaiser | 0:db396b9f4b4c | 88 | * Please mind that the parentheses after looper are omitted when using attach. |
jessekaiser | 0:db396b9f4b4c | 89 | */ |
jessekaiser | 0:db396b9f4b4c | 90 | log_timer.attach(looper, 0.001); |
jessekaiser | 0:db396b9f4b4c | 91 | while(1) //Loop |
jessekaiser | 0:db396b9f4b4c | 92 | { |
jessekaiser | 0:db396b9f4b4c | 93 | /*Empty!*/ |
jessekaiser | 0:db396b9f4b4c | 94 | /*Everything is handled by the interrupt routine now!*/ |
jessekaiser | 0:db396b9f4b4c | 95 | { |
jessekaiser | 0:db396b9f4b4c | 96 | char c = '0'; |
jessekaiser | 0:db396b9f4b4c | 97 | while(1) { |
jessekaiser | 0:db396b9f4b4c | 98 | pc.printf("Het programma blijft knipperen totdat er op '1' wordt gedrukt.\n"); |
jessekaiser | 0:db396b9f4b4c | 99 | do { |
jessekaiser | 0:db396b9f4b4c | 100 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 101 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 102 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 103 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 104 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 105 | myled2 = 0; |
jessekaiser | 0:db396b9f4b4c | 106 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 107 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 108 | if(pc.readable()) { |
jessekaiser | 0:db396b9f4b4c | 109 | c = pc.getc(); |
jessekaiser | 0:db396b9f4b4c | 110 | } |
jessekaiser | 0:db396b9f4b4c | 111 | } while(filtered_emg < 0.04); |
jessekaiser | 0:db396b9f4b4c | 112 | //c = pc.getc(); |
jessekaiser | 0:db396b9f4b4c | 113 | while(filtered_emg.read() > 0.04) { //Wanneer er op 1 wordt gedrukt gaat het lampje rood knipperen |
jessekaiser | 0:db396b9f4b4c | 114 | c = '0'; |
jessekaiser | 0:db396b9f4b4c | 115 | BlinkRed(2); |
jessekaiser | 0:db396b9f4b4c | 116 | |
jessekaiser | 0:db396b9f4b4c | 117 | if (pc.readable()) { //Wanneer er binnen de vastgestelde tijd weer op 1 wordt gedrukt, gaat het lampje blauw knipperen, anders reset. |
jessekaiser | 0:db396b9f4b4c | 118 | c = pc.getc(); |
jessekaiser | 0:db396b9f4b4c | 119 | c = '0'; |
jessekaiser | 0:db396b9f4b4c | 120 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 121 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 122 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 123 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 124 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 125 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 126 | myled3 = 0; |
jessekaiser | 0:db396b9f4b4c | 127 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 128 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 129 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 130 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 131 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 132 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 133 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 134 | myled3 = 0; |
jessekaiser | 0:db396b9f4b4c | 135 | wait(1);} |
jessekaiser | 0:db396b9f4b4c | 136 | else if (c != '1') { |
jessekaiser | 0:db396b9f4b4c | 137 | break; } |
jessekaiser | 0:db396b9f4b4c | 138 | |
jessekaiser | 0:db396b9f4b4c | 139 | if(pc.readable()) { |
jessekaiser | 0:db396b9f4b4c | 140 | c = pc.getc(); |
jessekaiser | 0:db396b9f4b4c | 141 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 142 | myled2 = 0; |
jessekaiser | 0:db396b9f4b4c | 143 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 144 | wait(5); //Dit wordt de duur van het slaan en teruggaan naar de beginpositie totdat er opnieuw gemeten kan worden. |
jessekaiser | 0:db396b9f4b4c | 145 | c = '0'; |
jessekaiser | 0:db396b9f4b4c | 146 | } |
jessekaiser | 0:db396b9f4b4c | 147 | } |
jessekaiser | 0:db396b9f4b4c | 148 | } |
jessekaiser | 0:db396b9f4b4c | 149 | } |
jessekaiser | 0:db396b9f4b4c | 150 | } |
jessekaiser | 0:db396b9f4b4c | 151 | } |
jessekaiser | 0:db396b9f4b4c | 152 | |
jessekaiser | 0:db396b9f4b4c | 153 | int i; |
jessekaiser | 0:db396b9f4b4c | 154 | |
jessekaiser | 0:db396b9f4b4c | 155 | int a(void) |
jessekaiser | 0:db396b9f4b4c | 156 | { |
jessekaiser | 0:db396b9f4b4c | 157 | i=22; |
jessekaiser | 0:db396b9f4b4c | 158 | return i; |
jessekaiser | 0:db396b9f4b4c | 159 | } |
jessekaiser | 0:db396b9f4b4c | 160 | |
jessekaiser | 0:db396b9f4b4c | 161 | void b (void) |
jessekaiser | 0:db396b9f4b4c | 162 | { |
jessekaiser | 0:db396b9f4b4c | 163 | int i; |
jessekaiser | 0:db396b9f4b4c | 164 | |
jessekaiser | 0:db396b9f4b4c | 165 | i=66; |
jessekaiser | 0:db396b9f4b4c | 166 | int j = a(); |
jessekaiser | 0:db396b9f4b4c | 167 | pc.print(i); |
jessekaiser | 0:db396b9f4b4c | 168 | } |
jessekaiser | 0:db396b9f4b4c | 169 | |
jessekaiser | 0:db396b9f4b4c | 170 | b(); |
jessekaiser | 0:db396b9f4b4c | 171 |